camera_tune.cc

/* Source: Mabl Research
*  URL: mablresearch.rit.edu
*/

//##using C++ library##
#include <iostream>
using namespace std;

#include <stdlib.h>
#include <stdio.h>

//##using openCV library##
#include <opencv2/opencv.hpp>
using namespace cv;
using namespace std;

#define CAM_BRIGHTNESS      (0.4)
#define CAM_CONTRAST        (0.11)
#define CAM_SATURATION      (0.11)
#define CAM_GAIN            (1.0)

#define ERODE_LEVEL         (1)
#define DILATE_LEVEL        (1)

//--------------MAIN BODY---------------
int main ( int argc, char **argv )
{

    Size frame_size;    
    double cam_brightness, cam_contrast, cam_saturation, cam_gain;

	// video source for webcam
	VideoCapture cap(0);
    if( !cap.isOpened() ) {
        cout << "Camera open failed." << endl;
        return -1;
    }
	//cap.set(CV_CAP_PROP_BRIGHTNESS, CAM_BRIGHTNESS);
    //cap.set(CV_CAP_PROP_CONTRAST, CAM_CONTRAST);
    //cap.set(CV_CAP_PROP_SATURATION, CAM_SATURATION);
    //cap.set(CV_CAP_PROP_GAIN, CAM_GAIN);
    //cap.set(CV_CAP_PROP_FRAME_WIDTH, 320);
    //cap.set(CV_CAP_PROP_FRAME_HEIGHT, 240);

  // Get camera parameters to make sure they were set correctly
  frame_size = Size(cap.get(CV_CAP_PROP_FRAME_WIDTH), cap.get(CV_CAP_PROP_FRAME_HEIGHT));
  cam_brightness = cap.get(CV_CAP_PROP_BRIGHTNESS);
  cam_contrast = cap.get(CV_CAP_PROP_CONTRAST);
  cam_saturation = cap.get(CV_CAP_PROP_SATURATION);
  cam_gain = cap.get(CV_CAP_PROP_GAIN);
	
	// slices matrcies that hold H,S and V
	vector<Mat> slices;

	// Cross Element for Erosion/Dilation
	Mat cross = getStructuringElement(MORPH_CROSS, Size(5,5));

		// create matrices to hold image
	Mat camImage;		// raw image from webcam
	Mat blurImage;		// blur image
	Mat hsvImage;		// hsv image 
	Mat hue;			// hue channel
	Mat hue1;			// Hue upper bound
	Mat hue2;			// Hue lower bound
	Mat hue3;			// hue color filtering
	Mat sat;			// Sat channel
	Mat sat1;			// Sat upper bound
	Mat sat2;			// sat lower bound
	Mat sat3;			// sat color filtering
	Mat val;			// Val channel
	Mat val1;			// Val upper bound
	Mat val2;			// Val lower bound
	Mat val3;			// Val color filtering
	Mat erd;			// Erosion Image
	Mat dia;			// dialate image
	Mat HnS;			// sat and hue channel
	Mat	HSV;			// HSV color fiter detected
	
	// slide bar values
	int HuethresH =0, 
		HuethresL =0,
		SatthresL =0,
		SatthresH = 0,
		ValthresL =0,
		ValthresH = 0,
		erosionCount = 1,
		dilationCount = 1,
		blurSize = 3;
		
	// new window
	cvNamedWindow("Color Tune",CV_WINDOW_NORMAL);
	
	// make tune bar
	cvCreateTrackbar( "Hue UpperT","Color Tune", &HuethresH, 255, 0 );
	cvCreateTrackbar ("Hue LowerT","Color Tune", &HuethresL,255, 0);
	cvCreateTrackbar( "Sat UpperT","Color Tune", &SatthresH, 255, 0 );
	cvCreateTrackbar( "Sat LowerT","Color Tune", &SatthresL, 255, 0 );
	cvCreateTrackbar( "Val UpperT","Color Tune", &ValthresH, 255, 0 );
	cvCreateTrackbar( "Val LowerT","Color Tune", &ValthresL, 255, 0 );
	cvCreateTrackbar ("EroTime","Color Tune", &erosionCount,15, 0);
	cvCreateTrackbar ("DilTime","Color Tune", &dilationCount,15, 0);
	cvCreateTrackbar ("BlurSize","Color Tune", &blurSize,15, 0);

	// check blurSize bound
	if(blurSize == 0)
		blurSize = 1; //reset blurSize
	
	// get and display webcam image
	while(1)
	{
		// get new image over and over from webcam
		cap >> camImage;
		
		// check blurSize bound
		if(blurSize == 0)
			blurSize = 1; //reset blurSize

		// blur image
		//blur(camImage, blurImage, Size(11,11));
		blur(camImage, blurImage, Size(blurSize,blurSize));
		
		// conver raw image to hsv
		cvtColor (camImage, hsvImage, CV_RGB2HSV);

			// check blurSize bound
		if(blurSize == 0)
			blurSize = 1; //reset blurSize
		blur(hsvImage, hsvImage, Size(blurSize,blurSize));
		
		//blur(hsvImage, hsvImage, Size(5,5));

		// split image to H,S and V images
		split(hsvImage,slices);

		
		slices[0].copyTo (hue); // get the hue channel
		slices[1].copyTo(sat); // get the sat channel
		slices[2].copyTo(val); // get the V channel
		
		//apply threshold HUE upper/lower for color range
		threshold(hue, hue1,HuethresL,255, CV_THRESH_BINARY); // get lower bound
		threshold(hue, hue2,HuethresH,255, CV_THRESH_BINARY_INV); // get upper bound

		hue3 = hue1 &hue2; // multiply 2 matrix to get the color range

		// apply thresshold for Sat channel
		threshold(sat, sat1,SatthresL,255, CV_THRESH_BINARY); // get lower bound
		threshold(sat, sat2,SatthresH,255, CV_THRESH_BINARY_INV); // get upper bound
		sat3 = sat1 & sat2; // multiply 2 matrix to get the color range

		// apply thresshold for Val channel
		threshold(val, val1,ValthresL,255, CV_THRESH_BINARY); // get lower bound
		threshold(val, val2,ValthresH,255, CV_THRESH_BINARY_INV); // get upper bound
		val3 = val1 & val2; // multiply 2 matrix to get the color range

		
		// combine sat and hue filter together
		HnS = sat3 & hue3;
		// erode and dialation to reduce noise
		erode(HnS,erd,cross,Point(-1,-1),erosionCount); // do erode
		dilate(HnS,dia,cross,Point(-1,-1),erosionCount);// do dialate


		// combine sat, val and hue filter together
		HSV = sat3 & hue3 & val3;

		// erode and dialation to reduce noise
		erode(HSV,erd,cross,Point(-1,-1),erosionCount); // do erode
		dilate(HSV,dia,cross,Point(-1,-1),dilationCount); // do dialate
		

		
		// display image over and over
		imshow("Webcam Orignal", camImage);
		imshow("Blur", blurImage);
		imshow("Hue Channel",hue);
		imshow("Hue Lower Bound",hue1);
		imshow("Hue Upper Bound", hue2);
		imshow("Hue Mask",hue3);
		imshow("Val Channel", val);
		imshow("Val Lower Bound", val1);
		imshow("Val Upper Bound", val2);
		imshow("Val Mask", val3);
		imshow("Sat Channel", sat);
		imshow("Sat Lower Bound", sat1);
		imshow("Sat Upper Bound", sat2);
		imshow("Sat Mask", sat3);
		imshow("HS Mask",HnS);
		imshow("HSV Mask", HSV);
		imshow("Eroded",erd);
        imshow("Dilated", dia);
	
				
		// Pause for highgui to process image painting
		if(cvWaitKey(5) == 'q') {
			break;
		}
		
				
	}

	//------CLEAN UP------- 
	cvDestroyAllWindows();
}